Incipient sensor fault estimation and accommodation for inverter devices in electric railway traction systems

This paper proposes an incipient sensor fault estimation and accommodation method for three‐phase PWM inverter devices in electric railway traction systems. First, the dynamics of inverters and incipient voltage sensor faults are modeled. Then, for the augmented system formed by original inverter system and incipient sensor faults, an optimal adaptive unknown input observer is proposed to estimate the inverter voltages, currents and the incipient sensor faults. The designed observer guarantees that the estimation errors converge to the minimal invariant ellipsoid. Moreover, based on the output regulator via internal model principle, the fault accommodation controller is proposed to ensure that the v_od and v_oq voltages track the desired reference voltages with the tracking error converging to the minimal invariant ellipsoid. Finally, simulations based on the traction system in CRH2 (China Railway High‐speed) are presented to verify the effectiveness of the proposed method. Copyright © 2016 John Wiley & Sons, Ltd.     

Output‐feedback H∞ quadratic tracking control of linear systems using reinforcement learning

This paper presents an online learning algorithm based on integral reinforcement learning (IRL) to design an output‐feedback (OPFB) H_∞ tracking controller for partially unknown linear continuous‐time systems. Although reinforcement learning techniques have been successfully applied to find optimal state‐feedback controllers, in most control applications, it is not practical to measure the full system states. Therefore, it is desired to design OPFB controllers. To this end, a general bounded L₂ ‐gain tracking problem with a discounted performance function is used for the OPFB H_∞ tracking. A tracking game algebraic Riccati equation is then developed that gives a Nash equilibrium solution to the associated min‐max optimization problem. An IRL algorithm is then developed to solve the game algebraic Riccati equation online without requiring complete knowledge of the system dynamics. The proposed IRL‐based algorithm solves an IRL Bellman equation in each iteration online in real time to evaluate an OPFB policy and updates the OPFB gain using the information given by the evaluated policy. An adaptive observer is used to provide the knowledge of the full states for the IRL Bellman equation during learning. However, the observer is not needed after the learning process is finished. A simulation example is provided to verify the convergence of the proposed algorithm to a suboptimal OPFB solution and the performance of the proposed method.     

Multivariable performance‐constrained sliding mode control for ship yaw‐motion systems with perturbations*

A performance‐constrained sliding mode controller will be proposed to satisfy the pole assignment, H_∞ norm, and individual variance constraints for linear perturbed MIMO systems. Application of this controller involves a simulation of the linearized perturbed ship steering yaw‐motion systems which will be provided for demonstration of the effectiveness of the present methodology. The control law developed in this paper is designed in the framework of a combination of the concept of the sliding mode control with the theory of upper bound covariance control. Copyright © 2000 John Wiley & Sons, Ltd.     

An adaptive controller–observer scheme for temperature control of non‐chain reactions in batch reactors

In this paper an adaptive controller–observer temperature control scheme is developed for a class of irreversible non‐chain reactions taking place in batch reactors. The scheme is based on a nonlinear observer for the estimation of the heat released by the reaction, where the heat transfer coefficient is adaptively estimated. Tracking of the desired reactor temperature is achieved via a two‐loop control scheme, where an independent adaptive estimate of the heat transfer coefficient is used as well. Remarkably, the observer and the controller can be designed and tuned separately. The convergence of both the nonlinear observer and of the overall controller–observer scheme is analyzed by resorting to a Lyapunov‐like argument. A comparative simulation case study is developed to test the performance of the proposed scheme and compare it with other approaches already known in the literature. Copyright © 2007 John Wiley & Sons, Ltd.     

A low‐power technique for high‐resolution dynamic comparators

A low‐power technique for high‐resolution comparators is introduced. In this technique, p‐type metal‐oxide‐semiconductor field‐effect transistors are employed as the input of the latch of the comparator just like the input of the preamplifier. The latch and preamplifier stages are activated in a special pattern using an inverter‐based controller. Unlike the conventional comparator, the preamplification delay can be set to an optimum low value even if after the preamplification, the output voltages is less than n‐channel metal‐oxide semiconductor voltage threshold. As a result, the proposed comparator reduces the power consumption significantly and enhances the speed. The speed and power benefits of the proposed comparator were verified using analytical derivations, PVT corners, and post layout simulations. The results confirm that the introduced technique reduces the power consumption by 60%, also, provides 57% better comparison speed for an input common mode voltage (V_cm) range of 0‐Vdd/2.     

Output‐feedback co‐ordinated decentralized adaptive tracking: The case of MIMO subsystems with delayed interconnections

Exact decentralized output‐feedback Lyapunov‐based designs of direct model reference adaptive control (MRAC) for linear interconnected delay systems with MIMO subsystems are introduced. The design process uses a co‐ordinated decentralized structure of adaptive control with reference model co‐ordination which requires an exchange of signals between the different reference models. It is shown that in the framework of the reference model co‐ordination zero residual tracking error is possible, exactly as in the case with SISO subsystems. We develop decentralized MRAC on the base of a priori information about only the local subsystems gain frequency matrices without additional a priori knowledge about the full system gain frequency matrix. To achieve a better adaptation performance we propose proportional, integral time‐delayed adaptation laws. The appropriate Lyapunov–Krasovskii type functional is suggested to design the update mechanism for the controller parameters, and in order to prove stability. Two different adaptive DMRAC schemes are proposed, being the first asymptotic exact zero tracking results for linear interconnected delay systems with MIMO subsystems. Copyright © 2005 John Wiley & Sons, Ltd.     

Examination of new vector control system of permanent magnet synchronous motor for high‐speed drives

A new vector control system for permanent magnet synchronous motor drives has been developed. To stabilize the current control loop in the high‐rotating‐speed region, a novel configuration of current controller is introduced. The unique characteristic of the proposed current controller is that the current regulator is connected to the conventional motor model in a series. By analyzing the transfer characteristics of the control, it became clear that the influence of the coupling component between the d–q axes can be deleted theoretically if the control parameters are set properly. The stability and torque response of the proposed vector control system were improved, and the effectiveness of the proposed controller was demonstrated by a time domain simulation and some experiments. In addition, the robustness of the controlling system was investigated experimentally. © 2011 Wiley Periodicals, Inc. Electr Eng Jpn, 176(4): 61–72, 2011; Published online in Wiley Online Library ( wileyonlinelibrary.com ). DOI 10.1002/eej.21123     

Magnetic properties of Pr‐Fe‐Co‐V‐W‐Si‐B system exchange spring magnets

The melt‐spun ribbons of Pr‐Fe‐Co‐V‐W‐Si‐B system alloys were prepared by single roller rapid‐quenching method. The effects of composition, surface velocity, and heat treatment on the magnetic properties were investigated. The P₉sFe₇₁Co₈V_0.5W_0.5Si_0.5B_10.5 alloy ribbons prepared at a surface velocity of 12.5 m/s were crystallized by heat treatment, and the optimum heat‐treatment condition was found to be at 575°C for 3 min, for which the magnetic properties were (BH)_max = 136.1 kJ/m³, J_r = 0.93 T, H_cJ = 652.2 kA/m, and H_cB = 528.3 kA/m. The temperature coefficients of J_r and H_cJ for the ribbons crystallized from melt‐spun ribbons of Pr₉Fe₇₁Co₈V_0.5W_0.5Si_0.5B_10.5 alloy were α(J_r)_ave = ?0.057%/°C and α(H_cJ) = ?0.450%/°C. The value of (B)_max for the compression molding Pr₉Fe₇₁Co₈V_0.5W_0.5Si_0.5B_10.5 isotropic bonded magnet prepared by using the ribbons annealed at 575°C for 3 min is 80.0 kJ/m³, and the density is 6.24 Mg/m³. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 157(3): 10–16, 2006; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20211 Copyright © 2006 Wiley Periodicals, Inc.     

The influence of mistuned motor parameters on vector control performance and on line slip frequency correction strategy for induction machine operated under one‐pulse PWM mode

In high‐power, high‐speed traction drive systems, the traction motor usually operates under one‐pulse PWM (pulse width modulation) mode (square wave) during high‐speed operation. The constant output voltage in this condition makes the traditional vector control inoperative anymore. In this paper, a modified vector control strategy using open‐loop current control instead of closed‐loop current control is proposed. The modified control strategy is specially designed for an induction motor operating under one‐pulse PWM mode. As the field orientation is greatly affected by the deviation in the parameters, the influence of mistuned rotor time constant and mutual inductance (which are regarded as the most important parameters for field orientation) on the performance of modified vector control is studied comprehensively, including the influence on estimated angle and amplitude of rotor flux, d/q‐axis voltage, and output torque. Subsequently, based on the comparison between the different methods, a new slip frequency correction strategy is proposed to maintain proper field orientation for the modified vector control. The new correction strategy is based on the q‐axis current component error. It is independent of the motor parameters and can be easily realized through minor calculations. The simulation and experimental results show that the proposed slip frequency correction strategy can not only eliminate rotor flux angle error in steady state but also effect rapid torque response during the transient process under one‐pulse PWM mode. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

A new method of characteristic analysis for three‐phase induction motors

Generally speaking, the characteristics of induction motors (IM) are analyzed by means of the equivalent circuit with d–q transformation. Although this method is simple, the magnetic flux distributions in the stator and rotor are defined as sinusoidal waves. Therefore, the equivalent circuits become relatively complex for the high‐frequency components and transient states. For detailed analysis, the finite element method (FEM) is used. The FEM can take account of the influence of skewed rotor bars and slots, and of the skin coefficient. However, the calculation time is very long for high‐frequency components and transient analysis. We therefore propose a new method of characteristic analysis for IM. The proposed method analyzes the magnetic flux simply based on the construction of the IM. It can analyze transient and steady states and high‐frequency components regardless of the type of source. The influence of skewed rotor bars and slots can also be treated simply. This paper describes the method of analysis, presents the results of the proposed method and compares them with experimental results, and describes the d–q transition. © 2001 Scripta Technica, Electr Eng Jpn, 135(4): 64–75, 2001     

Evaluation and discussion of disturbance observer‐based anti‐slip/skip readhesion control for electric train

The improvement of adhesion characteristics is very important for electric trains. The drive system of electric trains must have fine anti‐slip and anti‐skid readhesion controls. In order to achieve the required adhesion, we have already proposed an anti‐slip/skid readhesion control system based on disturbance observer and sensorless vector control. Moreover, we have already applied the proposed method to actual electric multiple unit trains Series 205‐5000. In this paper, using the experimental results of Series 205‐5000 and the numerical simulation results, we evaluate the proposed anti‐slip/skid readhesion control system and confirm that the system has the desired driving wheel torque response. © 2009 Wiley Periodicals, Inc. Electr Eng Jpn, 169(4): 55–64, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20834     

Teaching sampled‐data H∞ control theory using arm robot experiment system

This paper explains how to use an arm robot experiment system to teach sampled‐data H_∞ control theory. A design procedure is presented for a digital tracking control system for a continuous plant with structured uncertainties; the target is the positioning control of an arm robot. To guarantee the robust stability of the closed‐loop system and provide the desired closed‐loop performance, the design problem is first formulated as a sampled‐data H_∞ control problem, and is then transformed into an equivalent discrete‐time H_∞ control problem. Finally, linear matrix inequalities are used to obtain a reduced‐order output‐feedback controller and a static state‐feedback controller. In a course, the design procedure is explained and practice is provided through simulations and experiments. © 2011 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Neural‐network‐based finite‐time H∞ control for extended Markov jump nonlinear systems

This paper presents a neural‐network‐based finite‐time H_∞ control design technique for a class of extended Markov jump nonlinear systems. The considered stochastic character is described by a Markov process, but with only partially known transition jump rates. The sufficient conditions for the existence of the desired controller are derived in terms of linear matrix inequalities such that the closed‐loop system trajectory stays within a prescribed bound in a fixed time interval and has a guaranteed H_∞ noise attenuation performance for all admissible uncertainties and approximation errors of the neural networks. A numerical example is used to illustrate the effectiveness of the developed theoretic results. Copyright © 2009 John Wiley & Sons, Ltd.     

Active fault tolerant control systems by the semi‐Markov model approach

This paper investigates the active fault tolerant control problem via the H _∞ state feedback controller. Because of the limitations of Markov processes, we apply semi‐Markov process in the system modeling. Two random processes are involved in the system: the failure process and the fault detection process. Therefore, two corresponding semi‐Markov processes are integrated in the closed‐loop system model. This framework can generally accommodate different types of system faults, including the randomly happening sensor faults and actuator faults. A controller is designed to guarantee the closed‐loop system stability with a prescribed noise/disturbance attenuation level. The controller can be readily solved by using convex optimization techniques. A vertical take‐off and landing vehicle example with actuation faults is used to demonstrate the effectiveness of the proposed technique. Copyright © 2013 John Wiley & Sons, Ltd.     

Adaptive decoupling control of mimo systems

This paper describes a new adaptive controller for MIMO systems. The resulting closed-loop system will be stable and decoupled. The system to be controlled can be linear, non-minimum phase and/or unstable. The interactor matrix need not be known beforehand. Instead of employing the certainty equivalence principle to design the adaptive controller, a special controller design procedure is used. By using this special scheme, the computation time required for controller design will be drastically reduced. Moreover, the boundedness of the controller parameters is automatically ensured. This is a desired property which is useful in stability analysis. The steady state performance of the controller designed by the proposed method will be the same as that of controllers designed using the certainty equivalence principle. Approximate decoupling can be achieved by underestimating the degree of the decoupling matrix without affecting the stability of the system. To achieve decoupling, we need to specify the denominator of the closed-loop transfer function matrix of the system which is assumed to be in the form T(q^?1) = t(q^?1)I where the polynomial t(q^?1) is assumed to be monic and stable. Global stability of the adaptive system is obtained for deterministic systems. A simulation example is presented to demonstrate this control scheme.     

Gasoline engine air filter health monitoring by second‐order sliding modes

This paper presents a novel and cheap methodology to classify healthy and clogged air filter. Air filter is an integral part of air intake system of spark ignition engine and is responsible to deliver clean air for combustion process. A clogged air filter may hamper engine power and its drivability performance. As a consequence, its health monitoring becomes mandatory. This task is accomplished by modeling the air filter effects on air flow through inlet manifold pressure by incorporating a newly introduced air filter discharge coefficient (C_af) in its dynamics. The estimation of C_af gives an idea about the health of air filter, as no sensor can be installed to measure it. A second‐order sliding mode observer is employed to estimate immeasurable C_af. Super twisting‐based sliding mode observer requires manifold pressure, engine angular speed, and load torque as input. A successful implementation has been carried out to diagnose clogged and healthy air filter of commercial vehicle engine compliant to on‐board diagnostics version‐II. This characterizes ‘ C_af’ as a clean indicator of air filter health classification. Copyright © 2012 John Wiley & Sons, Ltd.     

Complex two‐dimensional TNIPM for l1 norm‐based sparse optimization to collocated MIMO radar

In collocated multiple‐input multiple‐output (MIMO) radar, because of the sparse nature of the received signal in the three dimensions of range, angle, and Doppler, accurate estimates of range/angle/Doppler parameters can be achieved using a sparse signal recovery. In this paper, we develop a complex two‐dimensional truncated Newton interior point method (2D TNIPM) for l₁‐norm‐based sparse optimization. Because of the 2D sparse representation of received signal in collocated MIMO radar systems, the performance of proposed algorithm is investigated in order to estimate the target position and velocity. Simulation results show that the 2D TNIPM requires much lower computations compared to the 1D one. Also, it outperforms some other 2D algorithms in the estimation of range, angle, and Doppler parameters under low signal‐to‐noise ratios. © 2015 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Rotor position estimation method of IPMSM using HF signal injection and sliding‐mode controller

This paper presents a simplified algorithm for the estimation of rotor position. A high‐frequency (HF) sinusoidal voltage is injected into the stator of a motor. An interior permanent magnet synchronous motor (IPMSM) has spatial saliency because the d‐ and q‐axis inductances are different from each other. The injected HF voltage is influenced by this saliency. Therefore, the rotor position is included in the stator current of the motor. The proposed method uses different synchronous reference frame transformations (SFTs) to extract the rotor position error between the estimated value and actual value. Also, a sliding‐mode controller is used for robustness against parameter variation and external disturbance. The experimental results confirm the effectiveness of the proposed method by showing waveforms of the rotor speed and position with load conditions. © 2014 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

A new modeling approach for circuit‐field‐coupled time‐stepping electromagnetic analysis of saturated interior permanent magnet synchronous motors

This paper proposes a new modeling approach for circuit‐field‐coupled time‐stepping electromagnetic analysis of a saturated interior permanent magnet synchronous motor (IPMSM). To predict the drive performance quickly, the proposed approach consists of a dynamic simulator based on a new analytical model of the d‐ and q‐axis magnetization characteristics (λ‐i_d‐i_q‐θ). The model can take into account not only cross‐saturation but also the harmonics of the inductance distributions and EMF waveforms. The validity of the model is verified from suitable simulation results for the instantaneous current and torque waveforms of the IPMSM. The proposed analysis leads to a dramatic reduction in the computation time compared to circuit‐field‐coupled time‐stepping FEA, while maintaining analytical accuracy. The effectiveness of the proposed method is experimentally verified using a 10‐kW, 15,000‐rpm concentrated‐winding IPM motor. © 2010 Wiley Periodicals, Inc. Electr Eng Jpn, 174(1): 49–58, 2011; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.21024     

A low‐voltage band‐gap reference circuit with second‐order analyses

A new band‐gap reference (BGR) circuit employing sub‐threshold current is proposed for low‐voltage operations. By employing the fraction of V_BE and the sub‐threshold current source, the proposed BGR circuit with chip area of 0.029mm² was fabricated in the standard 0.18µm CMOS triple‐well technology. It generates reference voltage of 170 mV with power consumption of 2.4µW at supply voltage of 1 V. The agreement between simulation and measurement shows that the variations of reference voltage are 1.3 mV for temperatures from ?20 to 100^°C, and 1.1 mV per volt for supply voltage from 0.95 to 2.5 V, respectively. Copyright © 2010 John Wiley & Sons, Ltd.